Difference between revisions of "Factory4 autocopy map"
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===Enable slaves to access the master=== | ===Enable slaves to access the master=== | ||
| + | This needs to be done on the slave robot(s)!<br> | ||
| + | If asked for a passphrase during ssh-keygen, leave it empty! | ||
<pre> | <pre> | ||
sudo su | sudo su | ||
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===start-smartsoft.sh=== | ===start-smartsoft.sh=== | ||
The script /opt/smartsoft/start-smartsoft.sh checks if this Robotino is a slave. If this is the case it checks if it tries to run rsync to copy the contents of master:/home/robotino/maps/default to slave:/home/robotino/maps/default | The script /opt/smartsoft/start-smartsoft.sh checks if this Robotino is a slave. If this is the case it checks if it tries to run rsync to copy the contents of master:/home/robotino/maps/default to slave:/home/robotino/maps/default | ||
| + | |||
| + | By convention the first item in the list of RemoteNS in /etc/robotino/smartsoft.conf must be the master IP address. | ||
Latest revision as of 14:41, 14 July 2015
Introduction
When running a fleet of Robotino's one Robotino is the master and all other Robotino's are slaves. The slaves already receive information like poses or pathes from the master at runtime. The map file used for localisation is not copied at runtime since it has to be available before the smartsoft components start.
Enable slaves to access the master
This needs to be done on the slave robot(s)!
If asked for a passphrase during ssh-keygen, leave it empty!
sudo su ssh-keygen ssh-copy-id MASTERIP
start-smartsoft.sh
The script /opt/smartsoft/start-smartsoft.sh checks if this Robotino is a slave. If this is the case it checks if it tries to run rsync to copy the contents of master:/home/robotino/maps/default to slave:/home/robotino/maps/default
By convention the first item in the list of RemoteNS in /etc/robotino/smartsoft.conf must be the master IP address.
